It is said to be the first time ultrasound waves have been used to turn objects rather than simply push them.
The study could help make surgery using ultrasound techniques more precise, the physicists said.
Surgeons use ultrasound to treat a range of conditions without having to cut open a patient.
The ability to steer ultrasound waves to the precise spot where they are needed could make those treatments even more effective.
The ultrasound waves could also be used to guide a drug capsule through the body and activate it, for instance right inside a tumour.
Ultrasound waves could already be made to push objects and scientists believed they could also turn them - but the Dundee University team claims to have now proved it.
They used energy from an ultrasound array to form a beam that can both carry momentum to push away an object in its path and, by using a beam shaped like a helix or vortex, cause the object to rotate.
Dr Mike MacDonald, of the Institute for Medical Science and Technology (IMSAT) at Dundee, said: "This experiment not only confirms a fundamental physics theory but also demonstrates a new level of control over ultrasound beams which can also be applied to non-invasive ultrasound surgery, targeted drug delivery and ultrasonic manipulation of cells.
